AP_HAL_ChibiOS Add CBUnmanned CBU-H7-LC-Stamp

Tools/AP_Bootloader/board_types.txt

@@ -295,6 +295,7 @@ AP_HW_MicoAir743AIOv1                1176
 AP_HW_CrazyF405                      1177
 AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
+AP_HW_CBU_StampH743_LC               1182
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-LC-Stamp/hwdef-bl.dat

@@ -0,0 +1,80 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the CBUnmanned H743 Stamp Low Cost hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_CBU_StampH743_LC
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART1 UART2
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PE9 IMU1_CS CS
+PE4 SP4_CS1 CS
+
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+PB6 USART1_TX USART1
+PA10 USART1_RX USART1
+
+PE3 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# microSD support
+PC1  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PB3 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/CBU-H7-LC-Stamp/hwdef.dat

@@ -0,0 +1,191 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the CBUnmanned H743 Stamp Low Cost hardware
+
+# default to all pins low to avoid ESD issues
+#DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+MCU_CLOCKRATE_MHZ 480
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_CBU_StampH743_LC
+
+FLASH_RESERVE_START_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PB6 USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# GPS 1
+PC10 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# GPS 2
+PD1 UART4_TX UART4
+PC11 UART4_RX UART4
+
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# RCIN
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL6_BAUD 115
+
+PA15 UART7_TX UART7
+PE7 UART7_RX UART7
+
+PE1 UART8_TX UART8 NODMA
+PE0 UART8_RX UART8 NODMA
+
+
+# ADC
+PC4 BATT_CURRENT_SENS ADC1 SCALE(1)  # Current INP4
+PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)  # Voltage
+# PB1 SPARE_SENS ADC1 SCALE(1)   # Spare
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 18
+define HAL_BATT_CURR_PIN 4
+define HAL_BATT_VOLT_SCALE 11.1
+define HAL_BATT_CURR_SCALE 64
+
+# IMU1 ICM-42760-P
+PE9 IMU1_CS CS
+PB0 IMU1_DRDY INPUT
+
+# SPI4 - External
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+PD4 SP4_DRDY INPUT
+PE4 SP4_CS1 CS
+
+# SPI6 - IMUs
+PA5 SPI6_SCK SPI6
+PA6 SPI6_MISO SPI6
+PB5 SPI6_MOSI SPI6
+
+# PWM output pins
+PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
+PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
+PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
+PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
+
+PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR
+PB7  TIM4_CH2 TIM4 PWM(6) GPIO(55)
+PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) BIDIR
+PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
+
+PC8 TIM3_CH3 TIM3 PWM(9) GPIO(58)
+PB1  TIM3_CH4 TIM3 PWM(10) GPIO(59)
+
+PA7 TIM14_CH1 TIM14 GPIO(61) ALARM
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PB9  CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# I2C buses
+# I2C2 - BMP280 
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# I2C3 - GPS1 external compass
+PA8 I2C3_SCL I2C3
+PC9 I2C3_SDA I2C3
+
+# I2C4 - GPS2 external compass
+PB8 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C3 I2C4
+define HAL_I2C_INTERNAL_MASK 1
+
+
+# microSD support
+PC1  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PB3 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# safety
+PD3 SAFETY_IN INPUT PULLDOWN
+
+# LED
+PE3 LED_RED OUTPUT HIGH GPIO(90)
+
+define AP_NOTIFY_GPIO_LED_1_ENABLED 1
+define AP_NOTIFY_GPIO_LED_1_PIN 90
+define HAL_GPIO_LED_ON 1
+
+# barometers
+BARO BMP280 I2C:0:0x76	
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# IMUs
+SPIDEV icm42670   	SPI6 DEVID3  IMU1_CS MODE3  2*MHZ  8*MHZ   
+IMU Invensensev3 	SPI:icm42670 ROTATION_PITCH_180_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+DMA_PRIORITY SDMMC* TIM* SPI6*
+DMA_NOSHARE TIM2* TIM4* TIM5*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True
+
+# ethernet consumes a big chunk of flash
+define AP_BATTERY_SCRIPTING_ENABLED 1